omega0=314;
b=0.707;
m=3;
f0=50;
Td=0.0033;
Un=300;
In=6.25;
Mn=9.55;
Udc=325;
Kt=32.5;
KI=1;
TI=3.3e-4;
Rm=9.1;
Te=3e-3;
Cu=1.528;
Jm=0.07;
Mz0=0.29;
B=0.0015;
Tsum=Td+Te+TI;
Ko=(Kt*KI)/Rm;
Kp=(2*b*omega0*Tsum-1)/Ko;
Ti=(Kp*Ko)/(Tsum*(omega0^2)); 
